package com.zy.core.thread; import HslCommunication.Core.Types.OperateResult; import HslCommunication.Core.Types.OperateResultExOne; import HslCommunication.Profinet.Siemens.SiemensPLCS; import HslCommunication.Profinet.Siemens.SiemensS7Net; import com.alibaba.fastjson.JSON; import com.core.common.DateUtils; import com.core.common.SpringUtils; import com.zy.asrs.entity.BasRgv; import com.zy.asrs.entity.BasRgvOpt; import com.zy.asrs.service.BasRgvOptService; import com.zy.asrs.service.BasRgvService; import com.zy.common.utils.News; import com.zy.core.RgvThread2; import com.zy.core.ThreadHandler; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.OutputQueue; import com.zy.core.enums.RgvStatusType; import com.zy.core.enums.RgvTaskModeType; import com.zy.core.enums.RgvTaskStatusType; import com.zy.core.enums.SlaveType; import com.zy.core.model.RgvSlave; import com.zy.core.model.Task; import com.zy.core.model.command.CrnCommand; import com.zy.core.model.command.RgvCommand; import com.zy.core.model.protocol.RgvProtocol; import lombok.Data; import lombok.extern.slf4j.Slf4j; import java.text.MessageFormat; import java.util.Date; /** * RGV线程 * Created by vincent on 2022/11/29 */ @Data @Slf4j public class RgvThread implements Runnable, RgvThread2 { private SiemensS7Net siemensNet; private RgvSlave slave; private RgvProtocol rgvProtocol; /** * 工位1复位信号 */ private boolean resetFlag1 = false; /** * 工位2复位信号 */ private boolean resetFlag2 = false; //锁定标记 private boolean PakMk = true; //入库标记 private boolean PakIn = true; //出库标记 private boolean PakOut = true; //根据距离跳过取货 private boolean PakRgv = true; //接驳标记 private boolean PakToCrn = true; public RgvThread(RgvSlave slave) { this.slave = slave; } @Override @SuppressWarnings("InfiniteLoopStatement") public void run() { this.connect(); while (true) { try { int step = 1; Task task = MessageQueue.poll(SlaveType.Rgv, slave.getId()); if (task != null) { step = task.getStep(); } switch (step) { // 读数据 case 1: readStatus(); break; // 小车工位写入数据 case 2: write((RgvCommand) task.getData()); break; // 复位 case 3: RgvCommand command = (RgvCommand) task.getData(); if (null == command) { command = new RgvCommand(); } command.setRgvNo(slave.getId()); // RGV编号 command.setTaskNo(0); // 工作号 command.setTaskStatus(RgvTaskStatusType.NONE); // 任务模式 command.setTargetPosition(0); // 源站 command.setWrkTaskPri(0); // 目标站 write(command); break; default: break; } Thread.sleep(500); } catch (Exception e) { // e.printStackTrace(); } } } /** * 初始化RGV状态 */ private void initRgv() { if (null == rgvProtocol) { rgvProtocol = new RgvProtocol(); } //小车状态 rgvProtocol.setStatus((short)-1); rgvProtocol.setRgvPosDestination(0); rgvProtocol.setMode((short) -1); rgvProtocol.setRgvPos(0); rgvProtocol.setErr1(false); rgvProtocol.setErr2(false); rgvProtocol.setErr3(false); rgvProtocol.setErr4(false); rgvProtocol.setErr5(false); rgvProtocol.setErr6(false); rgvProtocol.setErr7(false); rgvProtocol.setWrkTaskPri((short)0); //工位1状态 rgvProtocol.setTaskNo1(0); rgvProtocol.setStatus1((short)-1); rgvProtocol.setLoaded1(false); rgvProtocol.setWrkTaskMove1((short)0); //工位2状态 rgvProtocol.setTaskNo2(0); rgvProtocol.setStatus2((short)-1); rgvProtocol.setLoaded2(false); rgvProtocol.setWrkTaskMove2((short)0); // rgvProtocol.setAlarm((short)0); // rgvProtocol.setxSpeed((short) 0); // rgvProtocol.setxDistance((short) 0); // rgvProtocol.setxDuration((short) 0); } @Override public boolean connect() { boolean result = false; siemensNet = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp()); siemensNet.setRack(slave.getRack().byteValue()); siemensNet.setSlot(slave.getSlot().byteValue()); OperateResult connect = siemensNet.ConnectServer(); if(connect.IsSuccess){ result = true; OutputQueue.RGV.offer(MessageFormat.format( "【{0}】RGV plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); log.info("RGV plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); } else { OutputQueue.RGV.offer(MessageFormat.format("【{0}】RGV plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); log.error("RGV plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); initRgv(); } // siemensNet.ConnectClose(); return result; } private void setBool(byte[] buffer, int byteIndex, int bitIndex, boolean value) { if (value) { buffer[byteIndex] |= (1 << bitIndex); // 置位 } else { buffer[byteIndex] &= ~(1 << bitIndex); // 清零 } } /** * 读取状态 */ private void readStatus(){ try { OperateResultExOne result = siemensNet.Read("DB101.0", (short) 27); if (result.IsSuccess) { if (null == rgvProtocol) { rgvProtocol = new RgvProtocol(); rgvProtocol.setRgvNo(siemensNet.getByteTransform().TransInt16(result.Content, 0)); } rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 2)); rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt32(result.Content, 4)); rgvProtocol.setRgvPosDestination( siemensNet.getByteTransform().TransInt32(result.Content, 8)); rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 12)); rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt32(result.Content, 16)); rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt32(result.Content, 20)); boolean[] status1 = siemensNet.getByteTransform().TransBool(result.Content, 24, 2); rgvProtocol.setLoaded1(status1[0]); rgvProtocol.setLoaded2(status1[1]); boolean[] status2 = siemensNet.getByteTransform().TransBool(result.Content, 26, 1); rgvProtocol.setErr1(status2[0]); rgvProtocol.setErr2(status2[1]); rgvProtocol.setErr3(status2[2]); rgvProtocol.setErr4(status2[3]); rgvProtocol.setErr5(status2[4]); rgvProtocol.setErr6(status2[5]); rgvProtocol.setErr7(status2[6]); OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功", DateUtils.convert(new Date()), slave.getId())); try { // 根据实时信息更新数据库 BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class); BasRgv basRgv = new BasRgv(); basRgv.setRgvNo(slave.getId()); basRgv.setRgvSts((int)rgvProtocol.getMode()); if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))){ log.error("RGV plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); } } catch (Exception ignore){ System.out.println(ignore); } } else { initRgv(); OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); // log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); } } catch (Exception e) { e.printStackTrace(); OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); // log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); initRgv(); } } /** * 小车工位写入写入数据 */ private boolean write(RgvCommand command) throws InterruptedException { if (null == command) { log.error("RGV写入命令为空"); return false; } OperateResultExOne result1 = siemensNet.Read("DB100.0", (short) 39); if (result1.IsSuccess){ RgvCommand one = new RgvCommand(); one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(result1.Content, 0));//执行工位 one.setTargetPosition(siemensNet.getByteTransform().TransInt32(result1.Content, 4));//行走目标站 one.setTaskStatus(siemensNet.getByteTransform().TransInt16(result1.Content, 8));//小车状态 one.setTaskNo(siemensNet.getByteTransform().TransInt32(result1.Content, 10));//下发工作号 News.info("RGV命令下发前读取状态[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); } byte[] writeBytes = new byte[14]; command.setRgvNo(slave.getId()); writeInt32(writeBytes, 0, command.getWrkTaskPri()); writeInt32(writeBytes, 4, command.getTargetPosition()); writeInt16(writeBytes, 8, (short)command.getTaskStatus()); writeInt32(writeBytes, 10, command.getTaskNo()); OperateResult result = siemensNet.Write("DB100.0", writeBytes); if (!result.IsSuccess){ News.error("写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command)); MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(2,command)); Thread.sleep(100); readStatus(); return false; } //RGV任务写入后，回读一次，看是否成功 Thread.sleep(400); try { OperateResultExOne resultRead = siemensNet.Read("DB100.0", (short) 14); if (resultRead.IsSuccess){ RgvCommand one = new RgvCommand(); one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));//执行工位 one.setTargetPosition(siemensNet.getByteTransform().TransInt32(resultRead.Content, 4));//行走目标站 one.setTaskStatus(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));//小车状态 one.setTaskNo(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));//下发工作号 if ( !command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskStatus().equals(one.getTaskStatus()) || !command.getWrkTaskPri().equals(one.getWrkTaskPri()) || !command.getTargetPosition().equals(one.getTargetPosition()) ) { try{ News.error("RGV命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); }catch (Exception e){ try{ News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead)); }catch (Exception e1){ News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command)); } } News.error("Rgv命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command)); MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command)); Thread.sleep(100); readStatus(); return false; }else { News.info("RGV命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); } } }catch (Exception e){ News.error("RGV命令地址写入后回读出错"); } if (result.IsSuccess) { //任务下发确认 Thread.sleep(300); //任务下发次数 int writeCount2 = 0; do { writeCount2++; boolean commandFinish = true; result = siemensNet.Write("DB100.34.0", commandFinish); if(result.IsSuccess){ //RGV任务写入后，回读一次，看是否成功 Thread.sleep(200); OperateResultExOne resultRead = siemensNet.Read("DB100.34", (short) 2); if (resultRead.IsSuccess) { commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0); if (!commandFinish){ News.error("RGV任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次"); }else{ //任务命令写入成功 News.info("RGV任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次"); break; } }else { News.error("RGV任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次"); } } else { News.error("RGV任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次"); } }while (writeCount2<5); } try { // 日志记录 BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class); BasRgvOpt basRgvOpt = new BasRgvOpt( command.getTaskNo(), command.getRgvNo(), new Date(), command.getTaskStatus().toString(), command.getTargetPosition(), command.getWrkTaskPri(), new Date() ); bean.insert(basRgvOpt); } catch (Exception ignore) { log.error(ignore.getMessage()); } if (result != null && result.IsSuccess) { Thread.sleep(200); this.readStatus(); log.info("RGV 工位命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command)); OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command))); return true; } else { OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); log.error("写入RGV plc工位数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); return false; } } public static void writeInt32(byte[] buffer, int index, int value) { buffer[index] = (byte)((value >> 24) & 0xFF); buffer[index + 1] = (byte)((value >> 16) & 0xFF); buffer[index + 2] = (byte)((value >> 8) & 0xFF); buffer[index + 3] = (byte)(value & 0xFF); } public static void writeInt16(byte[] buffer, int index, short value) { buffer[index] = (byte)((value >> 8) & 0xFF); // 高字节 buffer[index + 1] = (byte)(value & 0xFF); // 低字节 } public static void writeBool(byte[] buffer, int byteIndex, int bitIndex, boolean value) { if (value) { buffer[byteIndex] |= (1 << bitIndex); } else { buffer[byteIndex] &= ~(1 << bitIndex); } } @Override public void close() { siemensNet.ConnectClose(); } /******************************************************************************************/ /**************************************** 测试专用 *****************************************/ /*****************************************************************************************/ public static void main(String[] args) throws InterruptedException { RgvSlave slave = new RgvSlave(); slave.setId(1); slave.setIp("192.168.6.9"); slave.setRack(0); slave.setSlot(0); RgvThread rgvThread = new RgvThread(slave); rgvThread.connect(); rgvThread.readStatus(); System.out.println(JSON.toJSONString(rgvThread.rgvProtocol)); Thread.sleep(3000L); } }